Hashem Tamimi and Andreas Zell
Using Scale Space Image Histograms for Global Localization of Mobile Robots
In Proc. of the 36th International Symposium on Robotics (ISR), Tokyo, Japan, November 2005.
Abstract
The scale invariant feature transform and the integral invariants
are two well known approaches for visual feature
extraction. Each of these approaches has been successfully
applied to global localization of mobile robots. In this paper,
we propose applying a combination of the two concepts.
We demonstrate that extracting the integral invariants from
the scale space does indeed improve the localization accuracy.
We also show that the computation time of the proposed
approach is much less than the scale invariant feature
transform.
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Bibtex
@INPROCEEDINGS{Tamimi05-isr1,
AUTHOR = "Hashem {Tamimi} and Andreas {Zell}",
TITLE = "Using Scale Space Image Histograms for Global Localization of Mobile Robots",
BOOKTITLE = "In Proc. of the 36th International Symposium on Robotics (ISR)",
ADDRESS ="Tokyo, Japan",
YEAR = "2005"
}